A method for determining a corrected UAV trajectory for a UAV having an on-board synthetic aperture radar (SAR) and a programmed trajectory includes the SAR obtaining observed radar range profile curves associated with point scatterers; calculating an error objective function based on the observed radar range profile curves to obtain a perturbation path; and applying the perturbation path to the programmed trajectory to obtain the corrected UAV trajectory input back into the SAR. Optimal parameter values applied to the UAV motion model then constitute an improved estimate of the UAV trajectory. A system for computing the corrected UAV trajectory also includes an on-board UAV inertial navigation system and an on-board processor having a machine-readable storage media capable for storing the software instructions for applying the subject algorithm via the processor that then applies the corrected trajectory to the SAR.
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1. A method for determining a corrected UAV trajectory for a UAV having an on-board SAR and a programmed trajectory, comprising: obtaining observed radar range profile curves associated with point scatterers; calculating an error objective function based on the observed radar range profile curves to obtain a perturbation path; and applying the perturbation path to the programmed trajectory to obtain the corrected UAV trajectory.
2. The method of claim 1 , wherein the UAV has on-board GPS, whereby GPS position values are applied to the calculation of the error objective function to obtain the perturbation path.
3. The method of claim 1 , wherein the UAV has on-board inertial navigation sensors.
4. The method of claim 1 , wherein the corrected UAV trajectory is utilized by the SAR in order for it to properly function on-board the UAV.
7. Computer software, comprising non-transitory code operable to carry out a method for determining a corrected UAV trajectory for a UAV having an on-board SAR and a programmed trajectory, the process comprising: obtaining observed radar range profile curves associated with point scatterers; calculating an error objective function based on the observed radar range profile curves to obtain a perturbation path; and applying the perturbation path to the programmed trajectory to obtain the corrected UAV trajectory.
8. The software of claim 7 , wherein the UAV has on-board GPS, whereby GPS position values are applied to the calculation of the error objective function to obtain the perturbation path.
9. The software of claim 7 , wherein the UAV has on-board inertial navigation sensors.
10. The software of claim 7 , wherein the corrected UAV trajectory is utilized by the SAR in order for it to properly function on-board the UAV.
13. A system for computing a corrected UAV trajectory, comprising: a UAV comprising: an on-board SAR including a processor having a machine-readable storage media; an inertial navigation system; and a programmed trajectory, comprising: observed radar range profile curves associated with point scatterers; an error objective function based on the observed radar range profile curves to obtain a perturbation path; and an application of the perturbation path to the programmed trajectory to obtain the corrected UAV trajectory.
14. The system of claim 13 , wherein the UAV has on-board GPS, and whereby GPS position values are applied to the calculation of the error objective function to obtain the perturbation path.
15. The system of claim 13 , wherein the UAV has on-board inertial navigation sensors.
16. The system of claim 13 , wherein the corrected UAV trajectory is utilized by the SAR in order for it to properly function on-board the UAV.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
March 23, 2010
July 3, 2012
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